MovementSubscriber.h

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// Copyright (c) 2023 FrostBit Software Lab at the Lapland University of Applied Sciences
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.
 
#pragma once
 
#include "CoreMinimal.h"
#include "Components/ActorComponent.h"
 
#include "Agrarsense/ROS/ROSState.h"
 
#include "ROSIntegration/Classes/RI/Topic.h"
 
#include "MovementSubscriber.generated.h"
 
USTRUCT(BlueprintType) 
struct FMessageParser
{
    GENERATED_BODY()
 
    FMessageParser() 
    {
        this->Throttle = 0.0;
        this->Break = 0.0;
        this->Steering = 0.0;
    }
    UPROPERTY(BlueprintReadOnly)
    float Throttle = 0.0;
 
    UPROPERTY(BlueprintReadOnly)
    float Break = 0.0;
 
    UPROPERTY(BlueprintReadOnly)
    float Steering = 0;
};
 
DECLARE_DYNAMIC_MULTICAST_DELEGATE_OneParam(FMessageReceived, FMessageParser, Movement);
 
UCLASS( ClassGroup=(Custom), meta=(BlueprintSpawnableComponent) )
class AGRARSENSE_API UMovementSubscriber : public UActorComponent
{
    GENERATED_BODY()
 
public: 
 
    UMovementSubscriber();
 
    UPROPERTY(BlueprintAssignable)
    FMessageReceived OnMessageReceived;
 
protected:
 
    virtual void BeginPlay() override;
 
    virtual void OnUnregister() override;
    
private:
 
    UFUNCTION()
    void ROSBridgeStateChanged(EROSState rosState);
 
    void CreateROSTopic();
 
    void DestroyROSTopic();
 
    UPROPERTY()
    TObjectPtr<UTopic> MovementTopic;
 
};